Failsafe enabled: no local position

[maxwelllwang]

I am using v1.11.3-0.2.3 modalai voxl build of PX4 and a modalai flight core using a holybro m8 gps
I have done all calibration multiple times and it flies great in sabilized mode

however when I try to fly in position mode or use Takeoff flight mode, it throws the error Failsafe enabled no local position.

Conditions for recreation
It usually happens right after arming around 5 seconds. but sometimes mid flight
After reflashing firmware issue doesn't show up until around 5 minutes of the drone being on. But after first occurance happens after every arm
Tested with two different holybro m8 gps and two different gps cables
voxl-vision-px4 has vio turned off.

here is what i see on qgroundcontrol

here is the corrosponding error message i get on my logs
WARN [gps] Tracking satellite has disappeared from horizon for unknown reason–please check location! 194 66

Here is the link to my log
https://review.px4.io/plot_app?log=270f405a-88bd-4ba7-a4d2-a4eb3258e18dhttps://discuss.px4.io/uploads/default/original/2X/f/fb421bd9f5516857db03f18eec8cdbf50c6f43f3.png

[maxwelllwang]

@maxwelllwang Sorry here is a working link to the log. https://review.px4.io/plot_app?log=270f405a-88bd-4ba7-a4d2-a4eb3258e18d